Lenze 931K - Manual (Page 44)

CANopen communication
Emergency telegram
Telegram structure
5
l
44 KHB 13.0002−EN 4.1
5.6 Emergency telegram
The drive controller monitors the functioning of its main components (including voltage
supply, power stage, angle encoder evaluation, technology slots). In addition, the motor
(temperature, angle encoder) and the limit switches are checked continuously. Incorrect
parameter settings can also cause error messages (division by zero, etc.).
If an error occurs, the error number is indicated on the display of the drive controller. If
several errors occur at the same time, the message with the highest priority (the lowest
number) is displayed.
5.6.1 Telegram structure
11 bits 4 bits Error code 1001
h
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Identifier
Data
length
E0 E1 R0 00 00 00 00 00
The drive controller sends an emergency telegram if an error occurs. The identifier of this
message is composed of the identifier 80
h
and the node address of the drive controller
concerned.
The emergency telegram consists of eight bytes. The first and second byte contain the
error_code. In the third byte there is an additional error code (object 1001
h
). The fourth to
eighth byte are always set to zero.